Metrics.
We have two measures: accuracy and performance. Accuracy refers to the switching method's ability to predict whether the end-to-end predictor will have high error. Performance refers to the resulting hybrid predictor (which uses planning-based when \(\sigma =1\) ) error, measured as average distance error (ADE) between the predicted trajectories and the ground-truth ones, which is standard in motion prediction [1]}, [2]}, [3]}, [4]}, [5]}.
